CN105551311B - Method and device for determining whether aircraft passes through target waypoint - Google Patents

Method and device for determining whether aircraft passes through target waypoint Download PDF

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Publication number
CN105551311B
CN105551311B CN201511021274.XA CN201511021274A CN105551311B CN 105551311 B CN105551311 B CN 105551311B CN 201511021274 A CN201511021274 A CN 201511021274A CN 105551311 B CN105551311 B CN 105551311B
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China
Prior art keywords
airborne vehicle
distance
target waypoint
air route
target
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CN201511021274.XA
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Chinese (zh)
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CN105551311A (en
Inventor
郎斌
孙妮娜
李泽轮
魏跃武
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Beijing Hezhong Sizhuang Space-Time Material Union Technology Co Ltd
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BEIJING ZHAOTONG ZHISHENG TECHNOLOGY CO LTD
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Priority to CN201511021274.XA priority Critical patent/CN105551311B/en
Publication of CN105551311A publication Critical patent/CN105551311A/en
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Publication of CN105551311B publication Critical patent/CN105551311B/en
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    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G5/00Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0073Surveillance aids
    • G08G5/0082Surveillance aids for monitoring traffic from a ground station
    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G5/00Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/04Anti-collision systems

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention relates to the field of aviation management, in particular to a method and a device for determining whether an aircraft passes through a target waypoint. The method comprises the following steps: comparing the lengths of the front navigation section and the rear navigation section of the target waypoint; setting a standard point on a longer navigation road section in a front navigation road section and a rear navigation road section of a target navigation road point, wherein the distance from the standard point to the target navigation road point is equal to the distance from the standard point to the shorter navigation road section; acquiring a first distance from the current position of the aircraft to a standard point, and acquiring a second distance from the current position of the aircraft to the other end point of the shorter navigation route section; and comparing the lengths of the first distance and the second distance, and determining whether the aircraft passes through the target waypoint according to the comparison result. The embodiment of the invention can accurately determine whether the aircraft passes through the target waypoint or not, and further can obtain the accurate time when the aircraft passes through the target waypoint, thereby predicting the air traffic flow, ensuring the flight safety, and improving the utilization rate of airspace resources and the operation efficiency of an airport.

Description

Determine airborne vehicle whether the method and apparatus Jing Guo target waypoint
Technical field
The present invention relates to aviation management domain, more particularly to a kind of determination airborne vehicle whether the method Jing Guo target waypoint And device.
Background technology
With the rapid growth of air traffic, the degree of crowding in spatial domain also greatly increases, and causes aerial flight to be rushed It is prominent extremely serious, if it is possible to Accurate Prediction air traffic, congestion spatial domain to be taken measures ahead of time, can not only ensure to fly Row safety, and spatial domain resource can also be effectively utilized, Aerodrome Operations efficiency is improved, therefore how accurately to predict air traffic Situation turns into the technology that blank pipe field is more paid close attention to.
An important technology is how accurately to determine whether airborne vehicle passes through target course in prediction air traffic situation Point is accurate to determine whether airborne vehicle aid in the flight dynamic of blank pipe personnel grasp airborne vehicle, prediction by target waypoint Air traffic situation, while can also ensure airborne vehicle safe flight.Airborne vehicle is counted generally according to predetermined course line in the prior art Flight is drawn, but when airborne vehicle is larger by ground airflow influence, flight track change is more violent, and airborne vehicle is flying Plan in implementation procedure, also can be by human factor, these factors are likely to result in airborne vehicle and flown out planned course, so that Airborne vehicle can not accurately determine whether airborne vehicle passes through target waypoint in flight course, and then can not Accurate Prediction it is aerial Traffic situation, so as to influence the safe flight of airborne vehicle.
The content of the invention
In order to solve the above technical problems, the present invention provide it is a kind of determination airborne vehicle whether the method Jing Guo target waypoint with Device, can accurately determine whether airborne vehicle passes through target waypoint, and then can show that airborne vehicle passes through target waypoint Time, so as to predicting air traffic flow, ensure flight safety, improve spatial domain resource utilization and Airport Operation effect Rate.
The embodiments of the invention provide it is a kind of determination airborne vehicle whether the method Jing Guo target waypoint, methods described bag Include:
The length of the preceding air route Duan Hehou air routes section of comparison object way point;
Standard point, the standard point are set in longer air route section in the preceding air route Duan Hehou air routes section of target waypoint Distance to target waypoint is equal with the distance of shorter air route section;
Airborne vehicle current location is obtained to the first distance of the standard point, obtains airborne vehicle current location to shorter boat The second distance of another end points in section;
Compare first distance and the length of the second distance, determine airborne vehicle whether through looking over so as to check according to comparative result Mark way point.
Wherein, it is described to determine whether airborne vehicle passes through according to comparative result when the preceding air route section of target waypoint is longer Target waypoint, it is specially:
When the first distance is less than second distance, determine airborne vehicle without target waypoint;
When the first distance is equal to second distance, determine that airborne vehicle passes by target waypoint;
When the first distance is more than second distance, determine that airborne vehicle has been subjected to target waypoint.
Wherein, it is described to determine whether airborne vehicle passes through according to comparative result when the rear air route section of target waypoint is longer Target waypoint, it is specially:
When the first distance is more than second distance, determine airborne vehicle without target waypoint;
When the first distance is equal to second distance, determine that airborne vehicle passes by target waypoint;
When the first distance is less than second distance, determine that airborne vehicle has been subjected to target waypoint.
Further, when it is determined that airborne vehicle passes by target waypoint, airborne vehicle is passed by the thunder of target waypoint Time of the airborne vehicle Jing Guo target waypoint is arranged to up to the time.
Further, when it is determined that airborne vehicle has been subjected to target waypoint, in addition to:
Normal line is set, and the normal line passes through the target waypoint, and another with the standard point and shorter air route section The line of end point is vertical;
According to airborne vehicle in position P1When the radar time, airborne vehicle is in position P2When the radar time, P1Arrive normal line Vertical range and P2To the vertical range of normal line, time of the airborne vehicle Jing Guo target waypoint is calculated, wherein, P1For airborne vehicle Without position during target waypoint, P2The position for being airborne vehicle after target waypoint.
Wherein, according to airborne vehicle in position P1When the radar time, airborne vehicle is in position P2When the radar time, P1To mark The vertical range and P of directrix2To the vertical range of normal line, time of the airborne vehicle Jing Guo target waypoint is calculated, is specially:
Wherein, T is time of the airborne vehicle Jing Guo target waypoint, T1It is in place for airborne vehicle Put P1When the radar time, T2It is airborne vehicle in position P2When the radar time, S1For P1To the vertical range of normal line, S2For P2 To the vertical range of normal line.
The embodiment of the present invention additionally provide it is a kind of determination airborne vehicle whether the device Jing Guo target waypoint, described device bag Include:First comparison module, setup module, acquisition module, the second comparison module and determining module;
First comparison module, the length for the preceding air route Duan Hehou air routes section of comparison object way point;
Setup module, it is described for setting standard point in the longer air route section that is compared in first comparison module The distance of standard point to target waypoint is equal with the distance of shorter air route section;
Acquisition module, the first distance of the standard point set for obtaining airborne vehicle current location to the setup module, Airborne vehicle current location is obtained to the second distance of shorter another end points of air route section;
Second comparison module, the first distance and the length of second distance obtained for the acquisition module;
Determining module, for determining whether airborne vehicle passes through target course according to the comparative result of second comparison module Point.
Further, the determining module includes the first determining unit, the second determining unit and the 3rd determining unit;
If the preceding air route section that first comparison module compares target waypoint is longer, when second comparison module First is compared apart from when being less than second distance, triggers first determining unit;
First determining unit, for determining airborne vehicle without target waypoint;
When second comparison module, which compares the first distance, is equal to second distance, second determining unit is triggered;
Second determining unit, for determining that airborne vehicle passes by target waypoint;
When second comparison module, which compares the first distance, is more than second distance, the 3rd determining unit is triggered;
3rd determining unit, for determining that airborne vehicle has been subjected to target waypoint.
Further, the determining module includes the first determining unit, the second determining unit and the 3rd determining unit;
If the rear air route section that first comparison module compares target waypoint is longer, when second comparison module First is compared apart from when being more than second distance, triggers first determining unit;
First determining unit, for determining airborne vehicle without target waypoint;
When second comparison module, which compares the first distance, is equal to second distance, second determining unit is triggered;
Second determining unit, for determining that airborne vehicle passes by target waypoint;
When second comparison module, which compares the first distance, is less than second distance, the 3rd determining unit is triggered;
3rd determining unit, for determining that airborne vehicle has been subjected to target waypoint.
Further, in addition to:Second setup module and computing module;
Second setup module, for setting normal line, the normal line passes through target waypoint, and with the standard Point is vertical with the line of shorter another end points of air route section;
The computing module, for according to airborne vehicle in position P1When the radar time, airborne vehicle is in position P2When radar Time, P1To the vertical range and P of normal line2To the vertical range of normal line, calculate airborne vehicle by target waypoint when Between, wherein, P1It is airborne vehicle without position during target waypoint, P2The position for being airborne vehicle after target waypoint.
The length for the preceding air route Duan Hehou air routes section that the embodiment of the present invention passes through comparison object way point, in longer air route Standard point is set in section, the distance of the standard point to target waypoint is equal with the distance of shorter air route section, compares airborne vehicle Current location is to the first distance of standard point and airborne vehicle current location to the second distance of shorter another end points of air route section It length, can accurately determine whether airborne vehicle passes through target waypoint according to comparative result, and then can show that airborne vehicle passes through The correct time of target waypoint is crossed, so as to predicting air traffic flow, ensures flight safety, improves the spatial domain utilization of resources Rate and Airport Operation efficiency;Further, when it is determined that airborne vehicle passes by target waypoint, airborne vehicle is passed by into target boat The radar time of waypoint is as time of the airborne vehicle Jing Guo target waypoint;Further, when it is determined that airborne vehicle has been subjected to target During way point, normal line is set, according to airborne vehicle by the radar time before normal line, airborne vehicle by normal line it Rear radar time, the vertical range and airborne vehicle of position of the airborne vehicle before by normal line to normal line are by standard Position after line can accurately calculate time of the airborne vehicle Jing Guo target waypoint to the vertical range of normal line, and When airborne vehicle deviate from plan air route due to special circumstances in part-time, airborne vehicle still can be accurately obtained through looking over so as to check Mark the time of way point.
Brief description of the drawings
Fig. 1 be it is provided by the invention it is a kind of determination airborne vehicle whether the method flow schematic diagram Jing Guo target waypoint;
Fig. 2 is a kind of route map of airborne vehicle provided by the invention;
Fig. 3 is the route map of another airborne vehicle provided by the invention;
Fig. 4 be it is provided by the invention it is a kind of determination airborne vehicle whether the apparatus structure schematic diagram Jing Guo target waypoint.
Embodiment
With reference to the accompanying drawings and examples, the embodiment of invention is described in further detail.Following examples For illustrating the present invention, but it is not limited to the scope of the present invention.
Referring to Fig. 1, the embodiments of the invention provide a kind of determination airborne vehicle whether the method Jing Guo target waypoint, the party Method includes:
Step 100:The length of the preceding air route Duan Hehou air routes section of comparison object way point;
Fig. 2 and Fig. 3 is the route map of airborne vehicle provided in an embodiment of the present invention, in Fig. 2 and Fig. 3, target waypoint It is C, target waypoint C preceding air route section is BC, and target waypoint C rear air route section is CD, and passing through in Fig. 2 can relatively obtain Go out, target waypoint C preceding air route section BC is longer, and target waypoint C rear air route section CD is shorter, i.e. BC>CD;Pass through in Fig. 3 Comparing to draw, target waypoint C preceding air route section BC is shorter, and target waypoint C rear air route section CD is longer, i.e. BC<CD.
Step 101:Standard point is set in longer air route section in the preceding air route Duan Hehou air routes section of target waypoint, should The distance of standard point to target waypoint is equal with the distance of shorter air route section;
Still illustrated by taking Fig. 2 and Fig. 3 as an example, bidding is B on schedule1, BC in Fig. 2>CD, then standard point B1On BC, B1C=CD;BC in Fig. 3<CD, then standard point B1On CD, B1C=BC.
Step 102:The first distance that standard point is arrived in airborne vehicle current location is obtained, acquisition airborne vehicle current location is to shorter Another end points of air route section second distance;
Illustrated by taking Fig. 2 as an example, in Fig. 2, standard point B1On BC, B1C=CD, if P1, P ' and P2Respectively aviation Device is in current location at different moments, when airborne vehicle current location is P1When, airborne vehicle current location to standard point first away from From namely P1B1Length, an end points of shorter air route section is target waypoint C, and another end points is way point D, boat Second distance i.e. P of the pocket current location to shorter another end points of air route section1D length;
When airborne vehicle current location is P ', the first distance i.e. P ' B of airborne vehicle current location to standard point1Length Degree, airborne vehicle current location to the shorter second distance of another end points of air route section i.e. P ' D length;
When airborne vehicle current location is P2When, the first distance i.e. P of airborne vehicle current location to standard point2B1Length Degree, second distance i.e. P of the airborne vehicle current location to shorter another end points of air route section2D length.
Illustrated by taking Fig. 3 as an example, in Fig. 3, standard point B1On CD, B1C=BC, if P1, P ' and P2Respectively aviation Device is in current location at different moments, when airborne vehicle current location is P1When, airborne vehicle current location to standard point first away from From namely P1B1Length, an end points of shorter air route section is target waypoint C, and another end points is way point B, boat Second distance i.e. P of the pocket current location to shorter another end points of air route section1B length;
When airborne vehicle current location is P ', the first distance i.e. P ' B of airborne vehicle current location to standard point1Length Degree, airborne vehicle current location to the shorter second distance of another end points of air route section i.e. P ' B length;
When airborne vehicle current location is P2When, the first distance i.e. P of airborne vehicle current location to standard point2B1Length Degree, second distance i.e. P of the airborne vehicle current location to shorter another end points of air route section2B length.
Step 103:First distance of more above-mentioned acquisition and the length of second distance, airborne vehicle is determined according to comparative result Whether target waypoint is passed through.
Wherein, if the preceding air route section that target waypoint is compared in step 100 is longer, in step 103, tied according to comparing Fruit determines whether airborne vehicle passes through target waypoint, is specially:
When the first distance is less than second distance, determine airborne vehicle without target waypoint;
When the first distance is equal to second distance, determine that airborne vehicle passes by target waypoint;
When the first distance is more than second distance, determine that airborne vehicle has been subjected to target waypoint.
Illustrated by taking Fig. 2 as an example, P1B1<P1D, determine airborne vehicle without target waypoint C;
P’B1=P ' D, determine that airborne vehicle passes by target waypoint C;
P2B1>P2D, determine that airborne vehicle has been subjected to target waypoint C.
Wherein, if the rear air route section that target waypoint is compared in step 100 is longer, in step 103, tied according to comparing Fruit determines whether airborne vehicle passes through target waypoint, is specially:
When the first distance is more than second distance, determine airborne vehicle without target waypoint;
When the first distance is equal to second distance, determine that airborne vehicle passes by target waypoint;
When the first distance is less than second distance, determine that airborne vehicle has been subjected to target waypoint.
Illustrated by taking Fig. 3 as an example, P1B1>P1B, determine airborne vehicle without target waypoint C;
P’B1=P ' B, determine that airborne vehicle passes by target waypoint C;
P2B1<P2B, determine that airborne vehicle has been subjected to target waypoint C.
Further, after it is determined that airborne vehicle passes by target waypoint C or have been subjected to target waypoint C, this hair Bright embodiment can also further obtain the time that airborne vehicle passes through target waypoint C, i.e., when it is determined that boat in the embodiment of the present invention When pocket passes by target waypoint, in addition to:The radar time that airborne vehicle is passed by target waypoint is arranged to airborne vehicle By the time of target waypoint.
Or when it is determined that airborne vehicle has been subjected to target waypoint, the embodiment of the present invention also includes:
Normal line is set, the normal line passes through target waypoint, and with standard point and the company of shorter another end points of air route section Line is vertical;
Illustrated by taking Fig. 2 as an example, in Fig. 2, normal line is by target waypoint C, and perpendicular to B1D straight line 1;
Illustrated by taking Fig. 3 as an example, in Fig. 3, normal line is by target waypoint C, and perpendicular to BB1Straight line 2.
According to airborne vehicle in position P1When the radar time, airborne vehicle is in position P2When the radar time, P1Arrive normal line Vertical range and P2To the vertical range of normal line, time of the airborne vehicle Jing Guo target waypoint is calculated, wherein, P1For airborne vehicle Without position during target waypoint, P2The position for being airborne vehicle after target waypoint.
Specifically, if time of the airborne vehicle Jing Guo target waypoint is T, thenWherein, T1 It is airborne vehicle in position P1When the radar time, T2It is airborne vehicle in position P2When the radar time, S1For P1To hanging down for normal line Straight distance, S2For P2To the vertical range of normal line.
In the prior art centered on target waypoint, the time scanned to radar in target waypoint radius is carried out It is average, it is possible to actual than airborne vehicle using average time as time of the airborne vehicle Jing Guo target waypoint, but the average time Time advance by target waypoint is delayed, not accurate enough;Further, when airborne vehicle is gone off course, radar can not scan To airborne vehicle, and then it also can not just obtain time of the airborne vehicle Jing Guo target waypoint;
The embodiment of the present invention passes by target waypoint when it is determined that airborne vehicle passes by target waypoint, by airborne vehicle The radar time is as time of the airborne vehicle Jing Guo target waypoint;When it is determined that airborne vehicle has been subjected to target waypoint, mark is set Directrix, according to airborne vehicle by radar time after by normal line of the radar time before normal line, airborne vehicle, boat Pocket arrives by the position of the vertical range of the position before normal line to normal line and airborne vehicle after process normal line The vertical range of normal line, time of the airborne vehicle Jing Guo target waypoint can be accurately calculated, and when airborne vehicle is due to spy When different situation deviate from plan air route in part-time, still can accurately obtain airborne vehicle by target waypoint when Between, and then flight safety can be ensured with predicting air traffic flow, improve spatial domain resource utilization and Airport Operation efficiency.
The length for the preceding air route Duan Hehou air routes section that the embodiment of the present invention passes through comparison object way point, in longer air route Standard point is set in section, the distance of the standard point to target waypoint is equal with the distance of shorter air route section, compares airborne vehicle Current location is to the first distance of standard point and airborne vehicle current location to the second distance of shorter another end points of air route section It length, can accurately determine whether airborne vehicle passes through target waypoint according to comparative result, and then can show that airborne vehicle passes through The correct time of target waypoint is crossed, so as to predicting air traffic flow, ensures flight safety, improves the spatial domain utilization of resources Rate and Airport Operation efficiency;Further, when it is determined that airborne vehicle passes by target waypoint, airborne vehicle is passed by into target boat The radar time of waypoint is as time of the airborne vehicle Jing Guo target waypoint;Further, when it is determined that airborne vehicle has been subjected to target During way point, normal line is set, according to airborne vehicle by the radar time before normal line, airborne vehicle by normal line it Rear radar time, the vertical range and airborne vehicle of position of the airborne vehicle before by normal line to normal line are by standard Position after line can accurately calculate time of the airborne vehicle Jing Guo target waypoint to the vertical range of normal line, and When airborne vehicle deviate from plan air route due to special circumstances in part-time, airborne vehicle still can be accurately obtained through looking over so as to check Mark the time of way point.
Referring to Fig. 4, the embodiments of the invention provide a kind of determination airborne vehicle whether the device Jing Guo target waypoint, the dress Put including:First comparison module 41, setup module 42, acquisition module 43, the second comparison module 44 and determining module 45;
First comparison module 41, the length for the preceding air route Duan Hehou air routes section of comparison object way point;
Setup module 42, for setting standard point in the longer air route section that is compared in the first comparison module 41, the mark The distance for arriving target waypoint on schedule is equal with the distance of shorter air route section;
Acquisition module 43, the first distance of the standard point set for obtaining airborne vehicle current location to setup module 42, Airborne vehicle current location is obtained to the second distance of shorter another end points of air route section;
Second comparison module 44, for comparing the first distance of the acquisition of acquisition module 43 and the length of second distance;
Determining module 45, for determining whether airborne vehicle passes through target course according to the comparative result of the second comparison module 44 Point.
Wherein it is determined that module 45 includes the first determining unit 451, the second determining unit 452 and the 3rd determining unit 453;
If the preceding air route section that the first comparison module 41 compares target waypoint is longer, when the second comparison module 44 compares Go out first apart from when being less than second distance, trigger the first determining unit 451;
First determining unit 451, for determining airborne vehicle without target waypoint;
When the second comparison module 44, which compares the first distance, is equal to second distance, the second determining unit 452 is triggered;
Second determining unit 452, for determining that airborne vehicle passes by target waypoint;
When the second comparison module 44, which compares the first distance, is more than second distance, the 3rd determining unit 453 is triggered;
3rd determining unit 453, for determining that airborne vehicle has been subjected to target waypoint.
If the rear air route section that the first comparison module 41 compares target waypoint is longer, when the second comparison module 44 compares Go out first apart from when being more than second distance, trigger the first determining unit 451;
First determining unit 451, for determining airborne vehicle without target waypoint;
When the second comparison module 44, which compares the first distance, is equal to second distance, the second determining unit 452 is triggered;
Second determining unit 452, for determining that airborne vehicle passes by target waypoint;
When the second comparison module 44, which compares the first distance, is less than second distance, the 3rd determining unit 453 is triggered;
3rd determining unit 453, for determining that airborne vehicle has been subjected to target waypoint.
Further, when the second determining unit 452 determines that airborne vehicle passes by target waypoint, the embodiment of the present invention is also Including:First setup module, the radar time for airborne vehicle to be passed by target waypoint are arranged to airborne vehicle and pass through target The time of way point.
Or after the 3rd determining unit 453 determines that airborne vehicle has been subjected to target waypoint, the embodiment of the present invention is also wrapped Include:Second setup module and computing module;
Wherein, the second setup module, for setting normal line, the normal line passes through target waypoint, and with standard point and The line of shorter another end points of air route section is vertical;
Computing module, for according to airborne vehicle in position P1When the radar time, airborne vehicle is in position P2When radar when Between, P1To the vertical range and P of normal line2To the vertical range of normal line, time of the airborne vehicle Jing Guo target waypoint is calculated, Wherein, P1It is airborne vehicle without position during target waypoint, P2The position for being airborne vehicle after target waypoint.
Specifically, if time of the airborne vehicle Jing Guo target waypoint is T, thenWherein, T1 It is airborne vehicle in position P1When the radar time, T2It is airborne vehicle in position P2When the radar time, S1For P1To hanging down for normal line Straight distance, S2For P2To the vertical range of normal line.
The length for the preceding air route Duan Hehou air routes section that the embodiment of the present invention passes through comparison object way point, in longer air route Standard point is set in section, the distance of the standard point to target waypoint is equal with the distance of shorter air route section, compares airborne vehicle Current location is to the first distance of standard point and airborne vehicle current location to the second distance of shorter another end points of air route section It length, can accurately determine whether airborne vehicle passes through target waypoint according to comparative result, and then can show that airborne vehicle passes through The correct time of target waypoint is crossed, so as to predicting air traffic flow, ensures flight safety, improves the spatial domain utilization of resources Rate and Airport Operation efficiency;Further, when it is determined that airborne vehicle passes by target waypoint, airborne vehicle is passed by into target boat The radar time of waypoint is as time of the airborne vehicle Jing Guo target waypoint;Further, when it is determined that airborne vehicle has been subjected to target During way point, normal line is set, according to airborne vehicle by the radar time before normal line, airborne vehicle by normal line it Rear radar time, the vertical range and airborne vehicle of position of the airborne vehicle before by normal line to normal line are by standard Position after line can accurately calculate time of the airborne vehicle Jing Guo target waypoint to the vertical range of normal line, and When airborne vehicle deviate from plan air route due to special circumstances in part-time, airborne vehicle still can be accurately obtained through looking over so as to check Mark the time of way point.
Described above is only the preferred embodiment of the present invention, is not intended to limit the invention, it is noted that for this skill For the those of ordinary skill in art field, without departing from the technical principles of the invention, can also make it is some improvement and Modification, these improvement and modification also should be regarded as protection scope of the present invention.

Claims (10)

1. it is a kind of determination airborne vehicle whether the method Jing Guo target waypoint, it is characterised in that methods described includes:
The length of the preceding air route Duan Hehou air routes section of comparison object way point;
Standard point, the standard point to mesh are set in longer air route section in the preceding air route Duan Hehou air routes section of target waypoint The distance for marking way point is equal with the distance of shorter air route section;
Airborne vehicle current location is obtained to the first distance of the standard point, obtains airborne vehicle current location to shorter air route section The second distance of another end points;Wherein, an end points of shorter air route section is the target waypoint, another end points refer to compared with Another end points in two end points of short air route section in addition to target waypoint;
Compare first distance and the length of the second distance, determine airborne vehicle whether by target boat according to comparative result Waypoint.
2. according to the method for claim 1, it is characterised in that when the preceding air route section of target waypoint is longer, according to than Relatively result determines whether airborne vehicle passes through target waypoint, is specially:
When the first distance is less than second distance, determine airborne vehicle without target waypoint;
When the first distance is equal to second distance, determine that airborne vehicle passes by target waypoint;
When the first distance is more than second distance, determine that airborne vehicle has been subjected to target waypoint.
3. according to the method for claim 1, it is characterised in that when the rear air route section of target waypoint is longer, according to than Relatively result determines whether airborne vehicle passes through target waypoint, is specially:
When the first distance is more than second distance, determine airborne vehicle without target waypoint;
When the first distance is equal to second distance, determine that airborne vehicle passes by target waypoint;
When the first distance is less than second distance, determine that airborne vehicle has been subjected to target waypoint.
4. according to the method in claim 2 or 3, it is characterised in that, will when it is determined that airborne vehicle passes by target waypoint The radar time that airborne vehicle passes by target waypoint is arranged to time of the airborne vehicle Jing Guo target waypoint.
5. according to the method in claim 2 or 3, it is characterised in that when it is determined that airborne vehicle has been subjected to target waypoint, also Including:
Normal line is set, the normal line passes through the target waypoint, and with the standard point and the shorter air route section other end The line of point is vertical;
According to airborne vehicle in position P1When the radar time, airborne vehicle is in position P2When the radar time, the P1To the standard The vertical range of line and the P2To the vertical range of the normal line, time of the airborne vehicle Jing Guo target waypoint is calculated, its In, P1It is airborne vehicle without position during target waypoint, P2The position for being airborne vehicle after target waypoint.
6. according to the method for claim 5, it is characterised in that according to airborne vehicle in position P1When the radar time, airborne vehicle In position P2When the radar time, the P1Vertical range and the P to the normal line2To the normal line it is vertical away from From, time of the calculating airborne vehicle Jing Guo target waypoint, specially:
Wherein, T is time of the airborne vehicle Jing Guo target waypoint, T1It is airborne vehicle in position P1 When the radar time, T2It is airborne vehicle in position P2When the radar time, S1For P1To the vertical range of normal line, S2For P2To mark The vertical range of directrix.
7. it is a kind of determination airborne vehicle whether the device Jing Guo target waypoint, it is characterised in that described device includes:First compares Module, setup module, acquisition module, the second comparison module and determining module;
First comparison module, the length for the preceding air route Duan Hehou air routes section of comparison object way point;
Setup module, for setting standard point, the standard in the longer air route section that is compared in first comparison module The distance of point to target waypoint is equal with the distance of shorter air route section;
Acquisition module, the first distance of the standard point set for obtaining airborne vehicle current location to the setup module, obtain Second distance of the airborne vehicle current location to shorter another end points of air route section;Wherein, an end points of shorter air route section is The target waypoint, another end points refer to another end in addition to target waypoint in two end points of shorter air route section Point;
Second comparison module, the first distance and the length of second distance obtained for the acquisition module;
Determining module, for determining whether airborne vehicle passes through target waypoint according to the comparative result of second comparison module.
8. device according to claim 7, it is characterised in that the determining module includes the first determining unit, and second is true Order member and the 3rd determining unit;
If the preceding air route section that first comparison module compares target waypoint is longer, when second comparison module compares Go out first apart from when being less than second distance, trigger first determining unit;
First determining unit, for determining airborne vehicle without target waypoint;
When second comparison module, which compares the first distance, is equal to second distance, second determining unit is triggered;
Second determining unit, for determining that airborne vehicle passes by target waypoint;
When second comparison module, which compares the first distance, is more than second distance, the 3rd determining unit is triggered;
3rd determining unit, for determining that airborne vehicle has been subjected to target waypoint.
9. device according to claim 7, it is characterised in that the determining module includes the first determining unit, and second is true Order member and the 3rd determining unit;
If the rear air route section that first comparison module compares target waypoint is longer, when second comparison module compares Go out first apart from when being more than second distance, trigger first determining unit;
First determining unit, for determining airborne vehicle without target waypoint;
When second comparison module, which compares the first distance, is equal to second distance, second determining unit is triggered;
Second determining unit, for determining that airborne vehicle passes by target waypoint;
When second comparison module, which compares the first distance, is less than second distance, the 3rd determining unit is triggered;
3rd determining unit, for determining that airborne vehicle has been subjected to target waypoint.
10. device according to claim 8 or claim 9, it is characterised in that also include:Second setup module and computing module;
Second setup module, for setting normal line, the normal line passes through target waypoint, and with the standard point and The line of shorter another end points of air route section is vertical;
The computing module, for according to airborne vehicle in position P1When the radar time, airborne vehicle is in position P2When radar when Between, P1To the vertical range and P of normal line2To the vertical range of normal line, time of the airborne vehicle Jing Guo target waypoint is calculated, Wherein, P1It is airborne vehicle without position during target waypoint, P2The position for being airborne vehicle after target waypoint.
CN201511021274.XA 2015-12-30 2015-12-30 Method and device for determining whether aircraft passes through target waypoint Expired - Fee Related CN105551311B (en)

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